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   <div id="projectname">MRSL Motion Primitive Library
   &#160;<span id="projectnumber">1.2</span>
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   <div id="projectbrief">A motion primitive library for generating trajectory for mobile robots</div>
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-attribs">Public Attributes</a> &#124;
<a href="classTrajectory-members.html">List of all members</a>  </div>
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<div class="title">Trajectory&lt; Dim &gt; Class Template Reference</div>  </div>
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<p><a class="el" href="classTrajectory.html" title="Trajectory class. ">Trajectory</a> class.  
 <a href="classTrajectory.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="trajectory_8h_source.html">trajectory.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a28d57dbc2b417e504bede1abbd772544"><td class="memItemLeft" align="right" valign="top"><a id="a28d57dbc2b417e504bede1abbd772544"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrajectory.html#a28d57dbc2b417e504bede1abbd772544">Trajectory</a> ()</td></tr>
<tr class="memdesc:a28d57dbc2b417e504bede1abbd772544"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:a28d57dbc2b417e504bede1abbd772544"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a261644c545eae2262753edb6aab27798"><td class="memItemLeft" align="right" valign="top"><a id="a261644c545eae2262753edb6aab27798"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrajectory.html#a261644c545eae2262753edb6aab27798">Trajectory</a> (const <a class="el" href="data__type_8h.html#a6b9210d48a0a541940af71827aad1b41">vec_E</a>&lt; <a class="el" href="classPrimitive.html">Primitive</a>&lt; Dim &gt;&gt; &amp;prs)</td></tr>
<tr class="memdesc:a261644c545eae2262753edb6aab27798"><td class="mdescLeft">&#160;</td><td class="mdescRight">Construct from multiple primitives. <br /></td></tr>
<tr class="separator:a261644c545eae2262753edb6aab27798"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aec62c9d9b1a35202df2072ea3efcef09"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structWaypoint.html">Waypoint</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrajectory.html#aec62c9d9b1a35202df2072ea3efcef09">evaluate</a> (<a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a> time) const</td></tr>
<tr class="memdesc:aec62c9d9b1a35202df2072ea3efcef09"><td class="mdescLeft">&#160;</td><td class="mdescRight">Evaluate <a class="el" href="structWaypoint.html" title="Waypoint base class. ">Waypoint</a> at time <img class="formulaInl" alt="$t$" src="form_12.png"/>.  <a href="#aec62c9d9b1a35202df2072ea3efcef09">More...</a><br /></td></tr>
<tr class="separator:aec62c9d9b1a35202df2072ea3efcef09"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4a31376506a13df82691e2f67125f25e"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrajectory.html#a4a31376506a13df82691e2f67125f25e">evaluate</a> (<a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a> time, <a class="el" href="structCommand.html">Command</a>&lt; Dim &gt; &amp;p) const</td></tr>
<tr class="memdesc:a4a31376506a13df82691e2f67125f25e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Evaluate <a class="el" href="structCommand.html" title="Command class. ">Command</a> at <img class="formulaInl" alt="$t$" src="form_12.png"/>, return false if fails to evaluate.  <a href="#a4a31376506a13df82691e2f67125f25e">More...</a><br /></td></tr>
<tr class="separator:a4a31376506a13df82691e2f67125f25e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5f54099ed3abd448c571b20200f42b3a"><td class="memItemLeft" align="right" valign="top"><a id="a5f54099ed3abd448c571b20200f42b3a"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrajectory.html#a5f54099ed3abd448c571b20200f42b3a">scale</a> (<a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a> ri, <a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a> rf)</td></tr>
<tr class="memdesc:a5f54099ed3abd448c571b20200f42b3a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Scale according to ratio at start and end (velocity only) <br /></td></tr>
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<tr class="memitem:a9bedf803b27daaca08d0e049a17fa41a"><td class="memItemLeft" align="right" valign="top"><a id="a9bedf803b27daaca08d0e049a17fa41a"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrajectory.html#a9bedf803b27daaca08d0e049a17fa41a">scale_down</a> (<a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a> mv, <a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a> ri, <a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a> rf)</td></tr>
<tr class="memdesc:a9bedf803b27daaca08d0e049a17fa41a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Scale down the whole trajectory according to mv. <br /></td></tr>
<tr class="separator:a9bedf803b27daaca08d0e049a17fa41a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a25ec384d286281c81480dee1b2f7bffe"><td class="memItemLeft" align="right" valign="top"><a id="a25ec384d286281c81480dee1b2f7bffe"></a>
<a class="el" href="data__type_8h.html#a6b9210d48a0a541940af71827aad1b41">vec_E</a>&lt; <a class="el" href="structCommand.html">Command</a>&lt; Dim &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrajectory.html#a25ec384d286281c81480dee1b2f7bffe">sample</a> (int N) const</td></tr>
<tr class="memdesc:a25ec384d286281c81480dee1b2f7bffe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sample N+1 <a class="el" href="structCommand.html" title="Command class. ">Command</a> along trajectory using uniformed time. <br /></td></tr>
<tr class="separator:a25ec384d286281c81480dee1b2f7bffe"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5e1f42b3d5a4efa3ec52e9ffebb5504d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrajectory.html#a5e1f42b3d5a4efa3ec52e9ffebb5504d">J</a> (const <a class="el" href="control_8h.html#af3600af994b25be7c568791eefdadf2e">Control::Control</a> &amp;control) const</td></tr>
<tr class="memdesc:a5e1f42b3d5a4efa3ec52e9ffebb5504d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return total efforts of <a class="el" href="classPrimitive.html" title="Primitive class. ">Primitive</a> for the given duration: <img class="formulaInl" alt="$J(i) = \int_0^T |p^{i}(t)|^2dt$" src="form_20.png"/>.  <a href="#a5e1f42b3d5a4efa3ec52e9ffebb5504d">More...</a><br /></td></tr>
<tr class="separator:a5e1f42b3d5a4efa3ec52e9ffebb5504d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abbd2605d622c7e3fc6556f88d686bf02"><td class="memItemLeft" align="right" valign="top"><a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrajectory.html#abbd2605d622c7e3fc6556f88d686bf02">Jyaw</a> () const</td></tr>
<tr class="memdesc:abbd2605d622c7e3fc6556f88d686bf02"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return total yaw efforts for the given duration: <img class="formulaInl" alt="$J_{yaw} = \int_0^T |\dot{\phi}(t)|^2dt$" src="form_25.png"/>.  <a href="#abbd2605d622c7e3fc6556f88d686bf02">More...</a><br /></td></tr>
<tr class="separator:abbd2605d622c7e3fc6556f88d686bf02"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afeeec35bf7962197b0a2aed260648760"><td class="memItemLeft" align="right" valign="top"><a id="afeeec35bf7962197b0a2aed260648760"></a>
std::vector&lt; <a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrajectory.html#afeeec35bf7962197b0a2aed260648760">getSegmentTimes</a> () const</td></tr>
<tr class="memdesc:afeeec35bf7962197b0a2aed260648760"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get time of each segment. <br /></td></tr>
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<tr class="memitem:a90b4353fe2d9504c6645b7cafd70764f"><td class="memItemLeft" align="right" valign="top"><a id="a90b4353fe2d9504c6645b7cafd70764f"></a>
<a class="el" href="data__type_8h.html#a6b9210d48a0a541940af71827aad1b41">vec_E</a>&lt; <a class="el" href="structWaypoint.html">Waypoint</a>&lt; Dim &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrajectory.html#a90b4353fe2d9504c6645b7cafd70764f">getWaypoints</a> () const</td></tr>
<tr class="memdesc:a90b4353fe2d9504c6645b7cafd70764f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get intermediate <a class="el" href="structWaypoint.html" title="Waypoint base class. ">Waypoint</a> on the trajectory. <br /></td></tr>
<tr class="separator:a90b4353fe2d9504c6645b7cafd70764f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a00a45bb81773cff30c3f7f6af6fd1a02"><td class="memItemLeft" align="right" valign="top"><a id="a00a45bb81773cff30c3f7f6af6fd1a02"></a>
<a class="el" href="data__type_8h.html#a6b9210d48a0a541940af71827aad1b41">vec_E</a>&lt; <a class="el" href="classPrimitive.html">Primitive</a>&lt; Dim &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrajectory.html#a00a45bb81773cff30c3f7f6af6fd1a02">getPrimitives</a> () const</td></tr>
<tr class="memdesc:a00a45bb81773cff30c3f7f6af6fd1a02"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get <a class="el" href="classPrimitive.html" title="Primitive class. ">Primitive</a> array. <br /></td></tr>
<tr class="separator:a00a45bb81773cff30c3f7f6af6fd1a02"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2c8a21095d260d7b8e4226c37fe56379"><td class="memItemLeft" align="right" valign="top"><a id="a2c8a21095d260d7b8e4226c37fe56379"></a>
<a class="el" href="classLambda.html">Lambda</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrajectory.html#a2c8a21095d260d7b8e4226c37fe56379">lambda</a> () const</td></tr>
<tr class="memdesc:a2c8a21095d260d7b8e4226c37fe56379"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the scaling factor <a class="el" href="classLambda.html" title="piecewise polynomial for scaling trajectory ">Lambda</a>. <br /></td></tr>
<tr class="separator:a2c8a21095d260d7b8e4226c37fe56379"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a93f4d5f86feb5f56e5fae7fd02311e9c"><td class="memItemLeft" align="right" valign="top"><a id="a93f4d5f86feb5f56e5fae7fd02311e9c"></a>
<a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrajectory.html#a93f4d5f86feb5f56e5fae7fd02311e9c">getTotalTime</a> () const</td></tr>
<tr class="memdesc:a93f4d5f86feb5f56e5fae7fd02311e9c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the total duration of <a class="el" href="classTrajectory.html" title="Trajectory class. ">Trajectory</a>. <br /></td></tr>
<tr class="separator:a93f4d5f86feb5f56e5fae7fd02311e9c"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a1740804394e9c3d87e1cb86fd8034a20"><td class="memItemLeft" align="right" valign="top"><a id="a1740804394e9c3d87e1cb86fd8034a20"></a>
<a class="el" href="data__type_8h.html#a6b9210d48a0a541940af71827aad1b41">vec_E</a>&lt; <a class="el" href="classPrimitive.html">Primitive</a>&lt; Dim &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrajectory.html#a1740804394e9c3d87e1cb86fd8034a20">segs</a></td></tr>
<tr class="memdesc:a1740804394e9c3d87e1cb86fd8034a20"><td class="mdescLeft">&#160;</td><td class="mdescRight">Segments of primitives. <br /></td></tr>
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<tr class="memitem:a283d2293df0bdb4b525e403b6cd8eb10"><td class="memItemLeft" align="right" valign="top"><a id="a283d2293df0bdb4b525e403b6cd8eb10"></a>
std::vector&lt; <a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrajectory.html#a283d2293df0bdb4b525e403b6cd8eb10">taus</a></td></tr>
<tr class="memdesc:a283d2293df0bdb4b525e403b6cd8eb10"><td class="mdescLeft">&#160;</td><td class="mdescRight">Time in virtual domain. <br /></td></tr>
<tr class="separator:a283d2293df0bdb4b525e403b6cd8eb10"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a29224a22e9c3b698a2d3645e234eb22f"><td class="memItemLeft" align="right" valign="top"><a id="a29224a22e9c3b698a2d3645e234eb22f"></a>
std::vector&lt; <a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrajectory.html#a29224a22e9c3b698a2d3645e234eb22f">Ts</a></td></tr>
<tr class="memdesc:a29224a22e9c3b698a2d3645e234eb22f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Time in actual domain. <br /></td></tr>
<tr class="separator:a29224a22e9c3b698a2d3645e234eb22f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a08e10efee7e33c2618bb7727fa2d034b"><td class="memItemLeft" align="right" valign="top"><a id="a08e10efee7e33c2618bb7727fa2d034b"></a>
<a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrajectory.html#a08e10efee7e33c2618bb7727fa2d034b">total_t_</a></td></tr>
<tr class="memdesc:a08e10efee7e33c2618bb7727fa2d034b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Total time of the trajectory. <br /></td></tr>
<tr class="separator:a08e10efee7e33c2618bb7727fa2d034b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a24a000bf7e3a68f675ea1e7470a32f34"><td class="memItemLeft" align="right" valign="top"><a id="a24a000bf7e3a68f675ea1e7470a32f34"></a>
<a class="el" href="classLambda.html">Lambda</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrajectory.html#a24a000bf7e3a68f675ea1e7470a32f34">lambda_</a></td></tr>
<tr class="memdesc:a24a000bf7e3a68f675ea1e7470a32f34"><td class="mdescLeft">&#160;</td><td class="mdescRight">Scaling object. <br /></td></tr>
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</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;int Dim&gt;<br />
class Trajectory&lt; Dim &gt;</h3>

<p><a class="el" href="classTrajectory.html" title="Trajectory class. ">Trajectory</a> class. </p>
<p>A trajectory is composed by multiple end-to-end connected primitives, so-called piece-wise polynomials </p>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a id="aec62c9d9b1a35202df2072ea3efcef09"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aec62c9d9b1a35202df2072ea3efcef09">&#9670;&nbsp;</a></span>evaluate() <span class="overload">[1/2]</span></h2>

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<div class="memtemplate">
template&lt;int Dim&gt; </div>
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  <td class="mlabels-left">
      <table class="memname">
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          <td class="memname"><a class="el" href="structWaypoint.html">Waypoint</a>&lt;Dim&gt; <a class="el" href="classTrajectory.html">Trajectory</a>&lt; Dim &gt;::evaluate </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a>&#160;</td>
          <td class="paramname"><em>time</em></td><td>)</td>
          <td> const</td>
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      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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<p>Evaluate <a class="el" href="structWaypoint.html" title="Waypoint base class. ">Waypoint</a> at time <img class="formulaInl" alt="$t$" src="form_12.png"/>. </p>
<p>If t is out of scope, we set t to be the closer bound (0 or total_t_) and return the evaluation; The failure case is when lambda is ill-posed such that <img class="formulaInl" alt="$t = \lambda(\tau)^{-1}$" src="form_19.png"/> has no solution, in which a null <a class="el" href="structWaypoint.html" title="Waypoint base class. ">Waypoint</a> is returned </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a4a31376506a13df82691e2f67125f25e">&#9670;&nbsp;</a></span>evaluate() <span class="overload">[2/2]</span></h2>

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template&lt;int Dim&gt; </div>
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          <td class="memname">bool <a class="el" href="classTrajectory.html">Trajectory</a>&lt; Dim &gt;::evaluate </td>
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          <td class="paramtype"><a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a>&#160;</td>
          <td class="paramname"><em>time</em>, </td>
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          <td class="paramtype"><a class="el" href="structCommand.html">Command</a>&lt; Dim &gt; &amp;&#160;</td>
          <td class="paramname"><em>p</em>&#160;</td>
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          <td>)</td>
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<p>Evaluate <a class="el" href="structCommand.html" title="Command class. ">Command</a> at <img class="formulaInl" alt="$t$" src="form_12.png"/>, return false if fails to evaluate. </p>
<p>If <img class="formulaInl" alt="$t$" src="form_12.png"/> is out of scope, we set <img class="formulaInl" alt="$t$" src="form_12.png"/> to be the closer bound (0 or total_t_) and return the evaluation; The failure case is when lambda is ill-posed such that <img class="formulaInl" alt="$t = \lambda(\tau)^{-1}$" src="form_19.png"/> has no solution. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a5e1f42b3d5a4efa3ec52e9ffebb5504d">&#9670;&nbsp;</a></span>J()</h2>

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template&lt;int Dim&gt; </div>
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          <td class="memname"><a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a> <a class="el" href="classTrajectory.html">Trajectory</a>&lt; Dim &gt;::J </td>
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<p>Return total efforts of <a class="el" href="classPrimitive.html" title="Primitive class. ">Primitive</a> for the given duration: <img class="formulaInl" alt="$J(i) = \int_0^T |p^{i}(t)|^2dt$" src="form_20.png"/>. </p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">control</td><td>Flag that indicates the order of derivative <img class="formulaInl" alt="$i$" src="form_10.png"/></td></tr>
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<p>Return J is the summation of efforts in all three dimensions. <code>Control::VEL</code> or <code>Control::VELxYAW</code> corresponds to <img class="formulaInl" alt="$i = 1$" src="form_21.png"/>; <code>Control::ACC</code> or <code>Control::ACCxYAW</code> corresponds to <img class="formulaInl" alt="$i = 2$" src="form_22.png"/>; <code>Control::JRK</code> or <code>Control::JRKxYAW</code> corresponds to <img class="formulaInl" alt="$i = 3$" src="form_23.png"/>; <code>Control::SNP</code> or <code>Control::SNPxYAW</code> corresponds to <img class="formulaInl" alt="$i = 4$" src="form_24.png"/>. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#abbd2605d622c7e3fc6556f88d686bf02">&#9670;&nbsp;</a></span>Jyaw()</h2>

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template&lt;int Dim&gt; </div>
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          <td class="memname"><a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a> <a class="el" href="classTrajectory.html">Trajectory</a>&lt; Dim &gt;::Jyaw </td>
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<p>Return total yaw efforts for the given duration: <img class="formulaInl" alt="$J_{yaw} = \int_0^T |\dot{\phi}(t)|^2dt$" src="form_25.png"/>. </p>
<p>By default, the <code>Jyaw</code> is using <code>Control::VEL</code> to calculate. </p>

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<hr/>The documentation for this class was generated from the following file:<ul>
<li>include/mpl_basis/<a class="el" href="trajectory_8h_source.html">trajectory.h</a></li>
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